相关论文: Chaotic Transitions in Wall Following Robots

In this paper, a novel process has been developed to realize high-level complex cognitive behaviors into reactive agents, efficiently. This method paves the way for deducting high-level reactive behaviors from low-level perceptive…

Random walks serve as important tools for studying complex network structures, yet their dynamics in cases where transition probabilities are not static remain under explored and poorly understood. Here we study nonlinear random walks that…

The purpose of this note is threefold. First we state a few conjectures that allow us to rigorously derive a theory which is asymptotic in N (the number of agents) that describes transients in large arrays of (identical) linear damped…

Distance control in many-particle systems is a fundamental problem in nature. This becomes particularly relevant in systems of active agents, which can sense their environment and react by adjusting their direction of motion. We employ…

Motivated by recent experimental works, we investigate a system of vortex dynamics in an atomic Bose-Einstein condensate (BEC), consisting of three vortices, two of which have the same charge. These vortices are modeled as a system of point…

Chaotic scattering is a manifestation of transient chaos realized by the scattering with non-integrable potential. When the initial position is taken in the potential, a particle initially exhibits chaotic motion, but escapes outside after…

This paper investigates a planar tracking problem between a leader and follower agent. We propose a novel feedback speed control law, paired with a constant bearing steering strategy, to maintain an abreast formation between the two agents.…

Autonomous aerial and aquatic robots that attain mobility by perturbing their medium, such as multicopters and torpedoes, produce wake effects that act as disturbances for adjacent robots. Wake effects are hard to model and predict due to…

Teams of networked autonomous agents have been used in a number of applications, such as mobile sensor networks and intelligent transportation systems. However, in such systems, the effect of faults and errors in one or more of the…

In this paper, we consider coordinated movement of a network of vehicles consisting of a bounded number of malicious agents, that is, vehicles must reach consensus in longitudinal position and a common predefined velocity. The motions of…

Previous studies have shown that rate-induced transitions can occur in pullback attractors of systems subject to "parameter shifts" between two asymptotically steady values of a system parameter. For cases where the attractors limit to…

We show a control algorithm to guide a robotic walking assistant along a planned path. The control strategy exploits the electromechanical brakes mounted on the back wheels of the walker. In order to reduce the hardware requirements we…

As the parameters of a map are varied an attractor may vary continuously in the Hausdorff metric. The purpose of this paper is to explore the continuation of chaotic attractors. We argue that this is not a helpful concept for smooth…

This paper presents a hybrid control framework for the motion planning of a multi-agent system including N robotic agents and M objects, under high level goals. In particular, we design control protocols that allow the transition of the…

By an undirected rigid formation of mobile autonomous agents is meant a formation based on graph rigidity in which each pair of "neighboring" agents is responsible for maintaining a prescribed target distance between them. In a recent paper…

Flexible cognition requires the ability to rapidly detect systematic functions of variables and guide future behavior based on predictions. The model described here proposes a potential framework for patterns of neural activity to detect…

Cooperative transport is a striking phenomenon where multiple agents join forces to transit a payload too heavy for the individual. While social animals such as ants are routinely observed to coordinate transport at scale, reproducing the…

Robots are still poor at traversing cluttered large obstacles required for important applications like search and rescue. By contrast, animals are excellent at doing so, often using direct physical interaction with obstacles rather than…

This paper considers the collective circular motion of multi-agent systems in which all the agents are required to traverse different circles or a common circle at a prescribed angular velocity. It is required to achieve these collective…

Robotics and automation are poised to change the landscape of home and work in the near future. Robots are adept at deliberately moving, sensing, and interacting with their environments. The pervasive use of this technology promises…